K0900499 T L Anh o

40900681 Tr n Ho ng Ging
40900797 L m Thnh Hiu
50900889 Nguy n Vu Ho i
20901026 Nguy n Thnh Huy
50901136 Phn Thnh H ng

BI TP CHNG 1:
IU KHIN PHI TUYN
Phng php Tuyn tnh ha gn ng
Thnh vin nhm:
GVHD: PGS. TS. NGUYN TH PHNG H
1
Bi tp chng 1 iu khin phi tuyn pp tuyn tnh ha gn ng
Th d 1.6/pp 39


Hnh 1.15

Xt mt h ty ng n gin c s nh hnh 1.15
sin
N
U u = (c tnh phi tuyn)
Hm truyn ca ng c: ( ) ; ( 0, 0)
( 1)
K
G s K T
s Ts
= > >
+

M
U in p tng ng vi moment ti t vo ng c.
Xt n nh ca h trng thi cn bng theo phng php th nht ca Lyapunov.
Gii
- Thnh lp h phng trnh bin trng thi cho h:
Ta t
1
x u = v
2 1
x x =

Ta c:
1
sin
N M M
V U U x U = =

T hm truyn ca ng c, ta c:
1
2
1
1
1 1 1
2 1 2
( ) (sin )
( 1) ( 1)
( ) sin
( ) sin
( ) sin
sin
M
M
M
M
M
K K
G s V x U
V s Ts s Ts
Ts s K x KU
T K x KU
Tx x K x KU
hay Tx K x KU x

= = =
+ +
+ =
+ =
+ =
=

- Vy ta c h phng trnh trng thi:
1 2 1
2 1 2 2
( )
1
sin ( )
M
x x f x
K K
x x U x f x
T T T
= =
= =

Hay
1 1
2 2
( ); ; ( )
x f
x f x x f x
x f
( (
= = =
( (


Phng trnh cha thnh phn sin(x), do l phng trnh phi tuyn.

( ) G s
0
V
= u

N
U
M
U

V

N(X)
2
Bi tp chng 1 iu khin phi tuyn pp tuyn tnh ha gn ng
- Trng thi cn bng c nh ngha:
1
2
2
1 2
2
1
0; ( ) 0
0
1
sin 0
0
sin
M
M
f
x f x
f
x
K K
x U x
T T T
x
x U
(
= = =
(

=

Vy h ty ng tn ti trng thi cn bng th 1
M
U s

- Phng trnh trng thi cn bng:
2
1
0
sin
M
x
x U
=

S dng phng php th nht kho st i vi phi tuyn nh:
. x A x A = A
Vi
1 1
1 2
2 2 1
1 2
0 1
1
cos
f f
x x
A
K
f f x
T T
x x
c c (
(
(
c c
(
(
= =
( c c (

(
c c


Ta xt:

det( ) 0 sI A =

1
1
1
1
cos 0
1
cos
s
K
sI A s s x
K
T T x s
T T
(
| |
(
= = + + =
|
(
+
\ .


- Xt cc trng hp c th:
1) 0
M
U = , khng c tc ng nhiu
T phng trnh ca trng thi cn bng ta c:
1
sin 0
M
x U = =

1 1
1
TH : 2 ,
cos 1
x m m Z
x
t - = e
=



3
Bi tp chng 1 iu khin phi tuyn pp tuyn tnh ha gn ng

Phng trnh c trng c dng:
2
1
0
0 (*)
K
s s
T T
s K
s
T T
| |
+ + =
|
\ .
+ + =

Ta nhn thy, theo nh l Viet, tng 2 nghim m, nhng tch 2 nghim dng
(do 0, 0) K T > >
V vy, 2 nghim ca phng trnh (*) l 2 nghim m
1,2
Re{ } 0 s <

theo tiu chun Hurwitz
p dng phng php th nht Lyapunov, h n nh trong phm vi hp.
2
1
1
TH :
(2 1) ,
cos 1
x m m Z
x
t
-
= + e
=

Phng trnh c trng c dng:
2
1
0
0 (**)
K
s s
T T
s K
s
T T
| |
+ =
|
\ .
+ =

Ta nhn thy, theo nh l Viet, tch 2 nghim m (do 0, 0) K T > >
V vy, 2 nghim ca phng trnh (**) l 2 nghim tri du
1 or 2
Re{ } 0 s >


Kt lun h khng n nh trong phm vi hp v im cn bng khng n nh trong phm vi
hp.
2) 1
M
U = ,
T phng trnh ca trng thi cn bng ta c:
1
1
sin 1
cos 0
M
x U
x
= =
=

Phng trnh c trng c dng:
1
0 (* * *) s s
T
| |
+ =
|
\ .

Mt nghim
1
0 s = v mt nghim
1
0 s
T
= < , khng p dng c phng php th nht
ca Lyapunov.
4
Bi tp chng 1 iu khin phi tuyn pp tuyn tnh ha gn ng
Bi tp 1.19/pp 74
Dng phng php th nht ca Lyapunov, xc nh iu kin n nh ca h c m t bi
phng trnh vi phn phi tuyn:
2
1 2
( ) [ ( ) ( )] ( ) ( ) 0 x t K x t x t K x t x t + + + + =
Nu:
1 2
1 2
1 2
) 0, 0
) 0, 0
) 0, 0
a K K
b K K
c K K
> >
< <
< >


Gii
- t bin trng thi:
1
2 1
x x
x x
=

1 2
2 2
2 1 2
( )
x x
x x K x x K x x
=

= = +

1 2 1
2 2
2 1 2 2 2 1 1 2
( )
( ) ( )
x x f x
x K x x K x x f x
= =

= + =

Sau khi khai trin chui Taylor, ta c:
i i
x A x A = A

Vi:
1 1
1 2
2 2 2 1 1 2 1
1 2
0 1
2 1 2
f f
x x
A
f f K x K x K
x x
c c (
(
c c (
(
= =
(
c c (

(
c c


- im cn bng:
1
2
2
2 1 1
2
2 1 2 1 1
1
2
2
2
0
0
0
0 0 0
1
0 1 0
0
x
x
x
x x x
x x K x x
x
K
K
x
=
=

=


= = =

= = + =

=


- Ti im cn bng (0,0):
1
0 1
1
A
K
(
=
(




1 1
1
2
1
2
1
2
1 1
1,2
0 0 1 1
det( ) 0
0 1 1
( ) 1 0
1 0 (*)
4
4
2
s s
sI A
s s K s K
s K s
s K s
K
K K
s

= = =
+ +
+ + =
+ + =
A =

=

1 2
) 0, 0 > > a K K

5
Bi tp chng 1 iu khin phi tuyn pp tuyn tnh ha gn ng
-
1
0 2: 0 < < A < K phng trnh (*) cho nghim phc
2
1 1
1,2
4
2
K j K
s

=
1
1,2
Re{ } 0
2
K
s

= <

-
1
2: 0 > A > K phng trnh (*) cho nghim thc:

2
1 1
1
4
0
2
K K
s
+
= <

(do
2
1 1
4 < K K )

2
1 1
2
4
0
2
K K
s

= <
1,2
Re{ } 0 s <
Vy trng hp
1 2
0, 0 > > K K , h thng n nh trong phm vi hp.

1 2
) 0, 0 < < b K K

-
1
2 0: 0 < < A < K phng trnh (*) cho nghim phc:
2
1 1
1,2
4
2
K j K
s

=
1
1,2
Re{ } 0
2
K
s

= >
-
1
2: 0 s A > K phng trnh (*) cho nghim thc:

2
1 1
1
4
0
2
K K
s
+
= >

2
1 1
2
4
0
2
K K
s

= >

(do
2
1 1
0 4 < < K K )
1,2
Re{ } 0 s >
Vy trng hp
1 2
0, 0 < < K K , h thng khng n nh.

1 2
) 0, 0 < > c K K

Tng t trng hp b, trng hp
1 2
0, 0 < > K K , h thng khng n nh.
- Ti im cn bng
2
1
; 0
K
| |
|
\ .
:
1
0 1
1
A
K
(
=
(

1
2
1
1
det( ) 0
1
1 0 (**)
s
sI A
s K
s K s

= =
+
+ =

Xt phng trnh (**), ta thy ac < 0, v vy phng trnh lun c 2 nghim tri du
{ }
1 or 2
Re 0 > s
H khng n nh vi mi
1 2
, K K
6
Bi tp chng 1 iu khin phi tuyn pp tuyn tnh ha gn ng
.28.1/PP 215
Cho h thng treo banh thp bng t hnh di. V tr ( ) y t ca banh c duy tr bng cch
thay i dng in ( ) i t vo cun dy nam chm in.


Cc thng s ca h thng nh sau:
( ) e t : in p t vo cun dy
( ) i t : dng cun dy
R, L ln lt l in tr v in cm cun dy
M : trng khi banh
g : gia tc trng trng
Lc ht ca nam chm ln banh l:
2
( )
( ) i
y t
t
K
a. Chng minh phng trnh vi phn ca h thng l:
=
= +
2 2
2
( )
( ) ( )
( )
( ) ( )
i
dt y t
dt
d y t t
M Mg K
di t
e t Ri t L


b. Tuyn tnh ha quanh im =
0
y const v = = +A = +A
0 0 0 0
, , i Mgy K y y y i i i , xy
dng phng trnh trng thi vi ba bin trng thi:
= A = = A
1
1 2 3
, ,
dx
x y x x i
dt

Gii
a. Cc lc tc dng ln banh thp gm c:
- Trng lc, hng xung: = P Mg
- Lc ht ca nam chm ln banh, hng xung:
2
( )
( ) i
y t
t
K
7
Bi tp chng 1 iu khin phi tuyn pp tuyn tnh ha gn ng
p dng nh lut 2 Newton:
=

F Ma

Vi a l gia tc: =
2
2
d y
a
dt

Suy ra: =
2 2
2
( )
( ) i
y t
d y t
Mg K M
dt

Mt khc, p dng nh lut Kirchhoff 2 (KVL) i vi cun dy vi chiu nh hnh v, ta
c:


= +
( )
( ) ( )
dt
di t
e t Ri t L





Vy phng trnh vi phn m t h thng l:
=
= +
2 2
2
( )
( ) ( )
(1)
( )
( ) ( ) (2)
i
dt y t
dt
d y t t
M Mg K
di t
e t Ri t L

b. Gi l
0
y v tr cn bng ca h thng.
- Ti v tr cn bng
= =
=
2
0
2
0
: 0
d y
y a
y y dt

= =
=
=
=
=
2 2
0
2
0 0
2
0
0
2 0
0
0
0
0
i
y
i
y
d y
Mg K M
y y dt
Mg K
Mgy
i
K
Mgy
i
K

- t: = +A = +A
0 0
, y y y i i i v thay vo phng trnh vi phn (1) v (2), ta c:
( ) + A
+ A
+ A
+ A
=
= + A +
0
0
0
2
2
0
2
0
( )
( )
( ) ( )
y y
dt y y
i i
dt
i i
d
M Mg K
d
e t R i i L

- t bin trng thi:
8
Bi tp chng 1 iu khin phi tuyn pp tuyn tnh ha gn ng
=

= =

= =

1
2
1 2
2 2
3
3


x y
d y dx dx
x
dt dt dt
dx di
x i
dt dt


- T (1) v (2) ta c:
= =
= = = = =
= = + =
1
2 1
2 2 2
3 2
2 2
1
3
3 3
( )
( , )
( )
( , ) ( , )
1
( , )
i x
y t x
dx
x f x e
dt
d y t dx K K dx
g g f x e hay f x e
dt dt M M dt
dx di R
x e f x e
dt dt L L

- Quanh v tr cn bng
0
y , ta c:
= + A
= + A = + A = + A
= + A
1 10 1
2 20 2 0 0
3 30 3
( ) ( )
( ) ( ) ( ) ( ) v ( ) ( )
( ) ( )
x t x x t
x t x x t hay x t x x t e t e e t
x t x x t

Xt h phi tuyn
= ( , )
dx
f x e
dt
, khai trin Taylor quanh im
0 0
, x e

=
=
| |
| | c c
| = + A = + A + A
|
|
c c
\ .
\ .
| |
| | c c
| A ~ A + A
|
|
c c
\ .
\ .
A ~ A + A + A + A

3
0 0 0
1 0 0 0 0
3
1 0 0 0 0
1 1 2 3
( , ) ( , )
( ) ( ) ( , )
, ,
( , ) ( , )
( )
, ,
( ) 0 1 0 0
i i
i i i i j
j
j
i i
i j
j
j
f x e f x e
x t x x t f x e x e
x e x e x e
f x e f x e
x t x e
x e x e x e
x t x x x e

| | | |

A ~ A + A + A + A
| |
\ . \ .

| |
A ~ A + A + A + A
|
\ .

2
30 30
2 1 2 3 2
10 10
3 1 2 3

2
( ) 0 0
1
( ) 0 0
x x K K
x t x x x e
M x M x
R
x t x x x e
L L

Hay:

(
(
(
(
A A ( ( (
(
( ( (
A = A + A
(
( ( (
(
( ( ( A A

(
(

(

1 1
2
30 30
2 2 2
10 10
3 3
0 1 0
0
2
0 0
1
0 0
x x
x x K K
x x e
M x M x
x x
R
L
L

9
Bi tp chng 1 iu khin phi tuyn pp tuyn tnh ha gn ng
- Ta c:
=

= =

| |
= =
|
\ .
= =
10 0
0
30 0
2
0 30
2 2
10 0 0
0 30
10 0 0

1
2 2 1
2
x y
Mgy
x i
K
Mgy g x K K
M x M K y y
Mgy gK x K K
M x M K y My

Vy:

(
(
(
(
( A A ( (
(
(
( (
A = A + A
(
( ( (
(
(
( ( A A

(
(

(

1 1
2 2
0 0
3 3
0 1 0
0
0 2 0
1
0 0
x x
g gK
x x e
y My
x x
R
L
L

Thay bin A
i
x thnh
i
x , ta c h phng trnh trng thi tuyn tnh ha quanh
0
y

(
(
(
(
(
( (
(
(
( (
= + A
(
( ( (
(
(
( (

(
(

(

1 1
2 2
0 0
3 3
0 1 0
0
0 2 0
1
0 0
x x
g gK
x x e
y My
x x
R
L
L

Vy ta c ma trn Jacobi:
1 1 1
1 2 3
2 2 2
1 2 3 0 0
3 3 3
1 2 3 0 0
( , ) ( , ) ( , )
0 1 0
( , ) ( , ) ( , )
0 2
( , ) ( , ) ( , )
0 0
,
f x e f x e f x e
x x x
f x e f x e f x e g gK
A
x x x y My
f x e f x e f x e
R
x x x x e L
( c c c
(
(
(
c c c
(
(
(
c c c
(
= =
(
(
c c c
(
(
(
c c c (

(
(
c c c




Thnh lp phng trnh c trng tng ng vi phng trnh xp x tuyn tnh:
10
Bi tp chng 1 iu khin phi tuyn pp tuyn tnh ha gn ng
2
0 0 0
0
det( ) 0
1 0
1
2 0
0 0
sI A
s
s
g gK g R R
s s s s g
s
y My L L y
y
R
s
L
=

| |
| | | |
= + = + =
|
| |

\ . \ .
\ .
+


Phng trnh c trng c 3 nghim l:
1
2
0
3
0
0
0
0
R
s
L
g
s
y
g
s
y
= <
= >
= <

Do nghim s2 dng, nn theo tiu chun Lyapunov h thng khng n nh.